An articulatable member includes a distal end, a proximal end, an actuation member, and a constraint member. The actuation member extends from the proximal end to the distal end. The actuation member transmits force to bend the articulatable member from a neutral position. The constraint member extends from the proximal end to the distal end. The constraint member may have opposite ends that are fixed to the distal end and the proximal end. In one embodiment, the constraint member follows a helical path along at least a portion of the articulatable member from the proximal end to the distal end. In another embodiment, the actuation member follows a helical path along at least a portion of the articulatable member.
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20. A surgical instrument, comprising:
a shaft;
a force transmission mechanism connected to a proximal end of the shaft;
a parallel motion mechanism connected to a distal end of the shaft;
a wrist comprising a plurality of links, the wrist being coupled to a distal end of the parallel motion mechanism;
an actuation member operably coupled to transmit force from the force transmission mechanism to bend the wrist from a neutral position; and
a constraint member extending through the wrist and the parallel motion mechanism, the constraint member arranged to passively constrain motion of the wrist and the parallel motion mechanism;
wherein opposite ends of the constraint member are respectively fixed to a distal end of the wrist and a proximal end of the parallel motion mechanism;
wherein a portion of the constraint member between the opposite ends is fixed to a portion of the surgical instrument between the wrist and the parallel motion mechanism; and
wherein the constraint member follows a substantially straight path along the parallel motion mechanism and a helical path along at least a portion of the wrist.
1. An articulatable member, comprising:
a plurality of links extending in a series from a proximal end link to a distal end link, adjacent links of the plurality of links being pivotably coupled to form joints between adjacent links;
an actuation member extending from the proximal end link to the distal end link,
wherein the actuation member is operably coupled to the plurality of links to transmit force to bend the articulatable member from a neutral position; and
a constraint member extending from the proximal end link to the distal end link,
wherein the constraint member has opposite ends that are fixed to the distal end link and the proximal end link, respectively,
wherein the constraint member extends through a throughhole in each link of the plurality of links, the throughhole being radially offset from a central axis of the link, and
wherein the constraint member follows a helical path along at least a portion of the articulatable member from the proximal end link to the distal end link;
wherein, in a straight configuration of the articulatable member, the constraint member is under tensile force between the opposite ends.
3. The articulatable member of
4. The articulatable member of
5. The articulatable member of
6. The articulatable member of
7. The articulatable member of
8. The articulatable member of
wherein the joints between adjacent links comprise two consecutive joints and two flanking joints, a first of the two flanking joints flanking a first of the two consecutive joints, and a second of the two flanking joints flanking a second of the two consecutive joints,
wherein each of the two consecutive joints has a rotational axis that extends in substantially a same direction, and
wherein each of the flanking joints has a rotational axis that extends in a direction substantially orthogonal to the direction of the rotational axes of the two consecutive joints.
9. The articulatable member of
10. The articulatable member of
11. The articulatable member of
12. The articulatable member of
13. The articulatable member of
14. The articulatable member of
15. The articulatable member of
16. The articulatable member of
17. The articulatable member of
18. The articulatable member of
a plurality of actuation members, wherein the actuation member is one of the plurality of actuation members; and
a plurality of constraint members, wherein the constraint member is one of the plurality of constraint members.
19. The articulatable member of
21. The surgical instrument of
22. The surgical instrument of
wherein the actuation member is operably coupled to the force transmission mechanism and the wrist so as to transmit the force from the force transmission mechanism to bend the wrist, and
wherein the actuation member extends in a substantially straight path along the parallel motion mechanism and the wrist.
23. The surgical instrument of
wherein the actuation member is operably coupled to the force transmission mechanism and the parallel motion mechanism to transmit the force from the force transmission mechanism to bend the parallel motion mechanism, and
wherein the actuation member follows a helical path along at least a portion of the parallel motion mechanism.
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This application is the U.S. national phase of international application no. PCT/US2015/015849 (filed Feb. 13, 2015), which designated the United States and claimed right of priority to U.S. provisional patent application No. 61/943,106 (filed Feb. 21, 2014), both of which are incorporated herein by reference.
Aspects of the present disclosure relate to articulatable members that exhibit constrained motion. More particularly, aspects of the present disclosure relate to surgical instruments, and related systems and methods, utilizing such articulatable members.
Remotely controlled surgical instruments, which can include teleoperated surgical instruments as well as manually operated (e.g., laparoscopic, thorascopic) surgical instruments, are often used in minimally invasive medical procedures. During medical procedures, an instrument may be articulated to position a portion of the instrument in a desired location. Positioning of the instrument in a desired location or orientation can be achieved by constraining the motion of one or more joints of the instrument. However, mechanisms to constrain the motion of one or more joints of an instrument can increase the mechanical complexity and operation of an instrument, and increase the difficulty of manufacturing an instrument.
The overall size of minimally invasive surgical instruments may pose constraints on the design of surgical instruments. In various applications, it is desirable for the overall size, including the outer lateral dimensions (e.g., diameter), of such instruments to be relatively small to fit within narrow lumens and other passages. In some cases, therefore, it is desirable to select the number and placement of force transmission elements so as to reduce the overall size of the instruments. For example, the number and placement of force transmission elements that interconnect a series of articulably coupled links to provide actuation forces to control bending of the links may be such that the one or more force transmission elements pass through one or more links without directly attaching and terminating at such links. For example, the bending and steering of a plurality of joints (or link pairs) in a series may be actuated through a single force transmission element (or single set of force transmission elements in the case of multiple bend directions and or degrees of freedom (DOFs)) without each joint or link pair being capable of individual direct bending by actuation of a force transmission element directly attached to such a link pair. Such a configuration is sometimes referred to as “underconstrained.” In other words, the steering and bending of multiple link pairs is actuated by a single force transmission element or single set of force transmission elements that is attached to and terminates at a link of one of the link pairs. Such “underconstrained” structures, however, can pose challenges in attempting to controllably steer and bend the structure, thereby potentially resulting in unpredictable and/or uncontrollable movement (articulation) of the links.
Control systems and other mechanisms have been proposed to assist in constraining the movement of otherwise underconstrained jointed link structures. However, a need exists to provide alternate designs for articulatable members that achieve constrained motion so as to be able to accurately control movement and positioning of the articulatable member.
Exemplary embodiments of the present disclosure may solve one or more of the above-mentioned problems and/or may demonstrate one or more of the above-mentioned desirable features. Other features and/or advantages may become apparent from the description that follows.
In accordance with at least one exemplary embodiment, an articulatable member comprises a distal end, a proximal end, an actuation member, and a constraint member. The actuation member may extend from the proximal end to the distal end. The actuation member may transmit force to bend the articulatable member from a neutral position. The constraint member may extend from the proximal end to the distal end. The constraint member may have opposite ends that are fixed to the distal end and the proximal end, respectively. Further, the constraint member may follow a helical path along at least a portion of the articulatable member from the proximal end to the distal end.
In accordance with another exemplary embodiment, an articulatable member may comprise a proximal end, a distal end, an actuation member, and a constraint member. The actuation member may extend from the proximal end to the distal end. The actuation member may be configured to transmit force to bend the articulatable member from a neutral position. The constraint member may extend from the proximal end to the distal end. The constraint member may have opposite ends that are fixed to the distal end and the proximal end, respectively. Further, the actuation member may follow a helical path along at least a portion of the articulatable member between the proximal end and the distal end of the articulatable member.
In accordance with another exemplary embodiment, a surgical instrument comprises a shaft, a force transmission mechanism connected to a proximal end of the shaft, a parallel motion mechanism connected to a distal end of the shaft, a wrist, an actuation member, and a constraint member. The wrist may comprise a plurality of links and be coupled to a distal end of the parallel motion mechanism. The actuation member may transmit force from the force transmission mechanism to bend the articulatable member from a neutral position or bend the wrist from a neutral position. The constraint member may extend through at least the wrist. The constraint member may passively constrain motion of the wrist mechanism. Opposite ends of the constraint member may be respectively fixed to a proximal end and a distal end of the wrist.
Additional objects, features, and/or advantages will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present disclosure and/or claims. At least some of these objects and advantages may be realized and attained by the elements and combinations particularly pointed out in the appended claims.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the claims; rather the claims should be entitled to their full breadth of scope, including equivalents.
The present disclosure can be understood from the following detailed description, either alone or together with the accompanying drawings. The drawings are included to provide a further understanding of the present disclosure, and are incorporated in and constitute a part of this specification. The drawings illustrate one or more exemplary embodiments of the present teachings and together with the description serve to explain certain principles and operation.
This description and the accompanying drawings that illustrate exemplary embodiments should not be taken as limiting. Various mechanical, compositional, structural, electrical, and operational changes may be made without departing from the scope of this description and the claims, including equivalents. In some instances, well-known structures and techniques have not been shown or described in detail so as not to obscure the disclosure. Like numbers in two or more figures represent the same or similar elements. Furthermore, elements and their associated features that are described in detail with reference to one embodiment may, whenever practical, be included in other embodiments in which they are not specifically shown or described. For example, if an element is described in detail with reference to one embodiment and is not described with reference to a second embodiment, the element may nevertheless be claimed as included in the second embodiment.
For the purposes of this specification and appended claims, unless otherwise indicated, all numbers expressing quantities, percentages, or proportions, and other numerical values used in the specification and claims, are to be understood as being modified in all instances by the term “about,” to the extent they are not already so modified. Accordingly, unless indicated to the contrary, the numerical parameters set forth in the following specification and attached claims are approximations that may vary depending upon the desired properties sought to be obtained. At the very least, and not as an attempt to limit the application of the doctrine of equivalents to the scope of the claims, each numerical parameter should at least be construed in light of the number of reported significant digits and by applying ordinary rounding techniques.
It is noted that, as used in this specification and the appended claims, the singular forms “a,” “an,” and “the,” and any singular use of any word, include plural referents unless expressly and unequivocally limited to one referent. As used herein, the term “include” and its grammatical variants are intended to be non-limiting, such that recitation of items in a list is not to the exclusion of other like items that can be substituted or added to the listed items.
Further, this description's terminology is not intended to limit the disclosure or claims. For example, spatially relative terms—such as “beneath”, “below”, “lower”, “above”, “upper”, “proximal”, “distal”, and the like—may be used to describe one element's or feature's relationship to another element or feature as illustrated in the orientation of the figures. These spatially relative terms are intended to encompass different positions (i.e., locations) and orientations (i.e., rotational placements) of a device in use or operation in addition to the position and orientation shown in the figures. For example, if a device in the figures is inverted, elements described as “below” or “beneath” other elements or features would then be “above” or “over” the other elements or features. Thus, the exemplary term “below” can encompass both positions and orientations of above and below. A device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. The relative proximal and distal directions of surgical instruments are labeled in the figures.
In various instruments with articulatable members, such as jointed link structures, movement of the articulatable member is constrained by actively controlling the movement of the components of the articulatable member (e.g., disks). Actuation members, such as drive tendons or drive rods, used to articulate the articulatable member may also be used to actively constrain the movement of the articulatable member. For instance, the actuation members may be coupled to a force transmission mechanism, such as a gimbal cable actuator described in U.S. Pat. No. 6,817,974, and coupled to disks of a jointed link structure so that force transmitted to the actuation members via the force transmission mechanism may be used to move the disks and articulate the jointed link structure. This configuration may also be used to actively constrain the movement of the disks, such as by transmitting force from the force transmission mechanism to the actuation members to hold the disks in place.
In some cases, instruments that actively constrain movement via actuation members utilize a relatively large number of actuation members to accurately control the movement of the articulatable member when the articulatable member is articulated or its movement is constrained. For example, a wrist may include additional joints to increase the range of motion of the wrist. However, this may result in additional actuation members to actuate and/or constrain the additional joints, thereby increasing the complexity and cost of the wrist, particularly when the joints are actively constrained. Moreover, particularly for instruments having a smaller diameter, it is generally desirable to use fewer actuation members so as to conserve space within the instrument. Aside from their number, the nature of actively controlled constraint members (e.g., actuation members that are used to actively constrain the movement of an articulatable member using forces applied to the actuation members) can increase the complexity of a wrist due to the mechanisms used to apply a force to the actuation members. Therefore, it may be desirable to provide constraint members that are not actively constrained.
Various exemplary embodiments of the present disclosure contemplate articulatable members in which the movement of the articulatable members is passively constrained. In other words, movement of the articulatable member is constrained without the use of an actuator, such as a force transmission mechanism and control algorithms controlling the same. For example, in various exemplary embodiments, the movement of disks of a jointed link structure is passively constrained by constraint members that are not actuatable by an external drive or transmission mechanism, but rather are reactive to motion (articulation) of the jointed link structure itself. According to an exemplary embodiment, the constraint members may be fixed at opposite ends of the jointed link structure. As a result, the constraint members need not utilize force transmission mechanisms to actively constrain movement of the articulatable member, which permits the use of fewer actuation members and potentially less complex force transmission mechanisms. Further, ends of the constraint members may be secured at the opposite ends of the articulatable member. Thus, the constraint members need not extend to a proximal end of an instrument where actuators, such as a force transmission mechanism, are located, thereby conserving space along an instrument shaft proximal to the articulatable member. Further, by not extending constraint members through the lumen (e.g., shaft) of an instrument to the proximal end of the instrument, the internal space of the lumen may be easier to clean because there are fewer objects within the lumen.
In accordance with various exemplary embodiments, the present disclosure contemplates articulatable members for instruments that include mechanisms to constrain the motion of the articulatable members. The constraint mechanisms may be secured at opposite ends of the articulatable member, which may be a wrist, a parallel motion mechanism, or other articulatable member used in an instrument. In various exemplary embodiments the articulatable members are jointed link structures. In one exemplary embodiment of a wrist of an instrument, the constraint mechanisms extend along a helical path along at least a portion of the length of the wrist. The wrist may further include actuation members, such as drive tendons, that extend substantially straight through the wrist. The wrist may include a series of connected disks that pivot about rotational axes that alternate in different directions (e.g., orthogonal) or that pivot about at least two consecutive rotational axes extending in substantially the same direction. A constraint mechanism is not limited to a tendon or a rod but instead may be, for example a braided structure, which may be used to provide the structure of an articulatable member, such as by replacing the disks of a jointed link structure. Alternatively, a braided structure can be used to constrain the motion of disks of a jointed link structure. In a parallel motion mechanism, the constraint mechanisms may extend substantially straight through the parallel motion mechanism, while drive tendons for the parallel motion mechanism extend along a helical path as they extend through at least a portion of the length of the parallel motion mechanism. According to an exemplary embodiment, when an instrument includes both a wrist and a parallel motion mechanism, a constraint mechanism can be used to constrain the motion of at least the wrist or both the wrist and the parallel motion mechanism. In another example, separate constraint mechanisms can be used to respectively constrain the motion of the wrist and the parallel motion mechanism.
Referring now to
In the exemplary embodiment of
Force transmission mechanisms 147, 148 are disposed at a proximal end of each shaft 150, 151 and connect through a sterile adaptor 145, 146 with actuation interface assemblies 143, 144. Actuation interface assemblies 143, 144 contain a variety of mechanisms (discussed further below with regard to the exemplary embodiment of
The diameter or diameters of an instrument shaft, wrist, and end effector are generally selected according to the size of the cannula with which the instrument will be used and depending on the surgical procedures being performed. In various exemplary embodiments, a shaft and/or wrist about 3 mm, 4 mm, 5 mm, 6 mm, 7 mm, or 8 mm in diameter, for example, to be inserted in some existing cannula systems; however, larger instrument sizes are also considered as within the scope of the present disclosure. According to an exemplary embodiment, depending on the type of surgical instrument, one or more of surgical instruments 141, 142 may be in communication with a flux source 160 via a flux transmission conduit 132. For example, if a surgical instrument 141 is an electrosurgical instrument, flux transmission conduit 132 is an electrical energy transmission cable and flux source 160 is an electrical energy generator.
Turning to
Instrument 240 may include other joints, such as a parallel motion mechanism (not shown) positioned between distal end 265 of shaft 260 and wrist 270, according to an exemplary embodiment. For further details regarding exemplary parallel motion mechanisms and their functions reference is made to U.S. Pat. No. 7,942,868, issued May 17, 2011, and U.S. Pub. No. US 2008/0065105, published Mar. 13, 2008, both of which are incorporated by reference herein in their entireties.
Surgical instrument 240 may include one or more actuation members to translate force between force transmission mechanism 250 and end effector 280 and between force transmission mechanism 250 and wrist 270 and/or a parallel motion mechanism (not shown). For instance, one or more actuation member(s) 290 may connect force transmission mechanism 250 to end effector 280 to provide actuation forces to end effector 280. The actuation members may extend along an interior of shaft 260. By utilizing actuation member(s) 290, force transmission mechanism 250 may actuate end effector 280 to, for example, to control a jaw of end effector 280 (or other moveable part) and/or control wrist 270 of instrument 240. Actuation member(s) 290 may be tension members, such as, for example, cables, wires, or the like, and may actuate the surgical instrument in a pull-pull manner. In another exemplary embodiment, the actuation member(s) 290 can be a compression member, such as, for example, a push rod, or the like, and operate in a push-pull manner, as described in U.S. Pat. No. 8,545,515, issued on Oct. 1, 2013, which is hereby incorporated by reference in its entirety.
Force transmission mechanism 250 may include one or more components to engage with a patient side cart of a teleoperated surgical system to translate a force provided by patient side cart to surgical instrument 240. According to an exemplary embodiment, force transmission mechanism 250 includes one or more driver disks 252, 254 that engage with a patient side manipulator of patient side cart, as described in U.S. Pat. No. 8,545,515. Thus, driver disks 252, 254 utilize actuation forces from a teleoperated (robotic) manipulator to actuate various DOFs of instrument 240, including, but not limited to, for example, roll, pitch, yaw, and/or various end effector movements (e.g., open, close, translate). Force transmission mechanism 250 is not limited to two driver disks 252, 254 and may include fewer or greater numbers of driver disks. For instance, force transmission mechanism 250 may include a number of driver disks corresponding to the number of DOFs of instrument 240, with some disks, or combination of disks, potentially controlling multiple instrument DOFs. In addition, although driver disks 252, 254 are depicted as being substantially parallel to the plane of the page of
The diameter or diameters of shaft 260, wrist 270, and end effector 280 for surgical instrument 240, as well as the diameter of a camera instrument, are generally selected according to the size of the cannula with which the instrument will be used. In another exemplary embodiment, a diameter of camera instrument and a diameter of wrist 270 and main shaft 260 may range from about 3 mm to about 10 mm. In another exemplary embodiment, a diameter of camera instrument and a diameter of wrist 270 and main shaft 260 may range from about 5 mm to about 8 mm. For example, the diameter may be about 4 mm, about 5 mm, about 6 mm, about 7 mm, or about 8 mm, for example so as to be sized to be inserted within some existing cannula systems. Further, although instruments may have circular cross-sections, instruments with non-circular cross-sections also are contemplated. For instance, a camera instrument may have an oval-shaped cross-section, such as a cross-section with a major axis having a length of, for example, about 13 mm to about 17 mm, and a minor axis having a length of, for example, about 8 mm to about 10 mm.
Systems and techniques for constraining the movement (bending) of articulatable members, such as wrists, may permit precise control of the movement of an articulatable member by minimizing undesired movement of components of the articulatable member. For instance, a constraint mechanism can minimize movement of disks in unintended directions, which may lead to slipping or dislocation of a disk relative to other disks in a jointed link structure or to an S-shape configuration when an arc shape with a single inflection may be desired.
As discussed above, motion of an articulatable member, such as a wrist, may be actively constrained by connecting a set of actuation elements (e.g., tendons) to one or more force transmission mechanisms, such as force transmission mechanism 250. Various mechanisms in a transmission mechanism of the instrument may be utilized to provide control over the actuation elements and thereby serve to constrain motion of jointed link structures or other articulatable member.
A constraint configuration utilizing sets of cables that terminate at each of a series of disks to actively control motion of disk and that extend to a force transmission mechanism at a proximal end of an instrument can increase the mechanical complexity of an instrument and take up valuable space in smaller instruments that may be used for other components.
In view of these considerations, various exemplary embodiments of the present disclosure contemplate articulatable members that exhibit constrained motion so that articulated movement of the articulatable member is conducted in a relatively repeatable, precise, and smooth manner to position the articulatable members in a desired and predictable configuration. Further, an instrument including an articulatable member in accordance with exemplary embodiments of the present disclosure may have a mechanically less complex force transmission mechanism despite a relatively small overall diameter of the instrument, may be relatively easy to operate, and may be cost efficient to manufacture.
According to an exemplary embodiment, an articulatable member having constrained motion is a jointed link structure used as a wrist in a surgical instrument. Turning to
As depicted in
As shown in the exemplary embodiment of
According to an exemplary embodiment, actuation elements 320 may be arranged in pairs that extend through wrist 310, a shaft of an instrument, and to a force transmission mechanism. The force transmission mechanism may include various types of mechanisms to actuate the actuation elements, such as, for example, capstans, gears, levers, gimbals, rack and pinion devices, pulleys, and other devices those having ordinary skill in the art are familiar with. For instance, four actuation elements 320 arranged in two pairs may extend through wrist 310, although other numbers of actuation elements 320 and pairs of actuation elements 320 may be utilized. A pair of actuation elements 320 may be connected to a capstan to actuate actuation elements 320, such as in the form of a pull/pull drive mechanism or a push/pull drive mechanism, as described in U.S. Pat. No. 8,545,515. The capstan may be connected, according to an exemplary embodiment, to one of the interface disks 252, 254 of the force transmission mechanism 250 of the exemplary embodiment of
As shown in the exemplary embodiment of
Wrist 310 may include structures to passively constrain the motion of wrist 310. According to an exemplary embodiment, wrist 310 may include one or more constraint tendon(s) that extend through wrist 310. To constrain the motion of wrist 310, constraint tendon(s) may be fixed to the distal and proximal ends of wrist 310. According to an exemplary embodiment, passive constraint tendon(s) may be fixed to ends of an articulatable portion of wrist 310, such as, for example, the articulatable portion provided by disks 311-315. Thus, as will be discussed below, passive constraint tendon(s) may be fixed to, for example, disks 311 and 315 themselves or to positions proximate to disks 311 and 315. When wrist 310 is articulated to bend a desired direction, the constraint tendon(s) will be bent with wrist 310. Because constraint tendon(s) are fixed to the distal and proximal ends of wrist 310, constraint tendon(s) have a fixed length relative to the wrist 310, causing the constraint tendon(s) to passively apply a force to disks 311-315. Thus, if one of disks 311-315 begins to translate in a radial direction relative to the other disks, constraint tendons will act upon the translating disk so as to tend to resist the translation movement and keep the disk aligned along the longitudinal axis of the wrist. For instance, if disk 313 experiences a force that acts to translate disk 313 radially along direction 358 relative to disks 312 and 314, constraint tendons in contact with disk 313, such as by passing through apertures in disk 313, will act on the disk 313 to resist the radial translation along direction 358, thus tending to constrain the translation movement of disk 313.
Constraint tendons may be fixed in place via, for example, welding constraint tendons in place, crimping constraint tendons to another object, or by other methods familiar to one of ordinary skill in the art. For instance, distal ends of constraint tendons may be fixed to disk 311 or to distal end 302 of instrument and proximal ends of constraint tendon(s) may be fixed to disk 315 or to instrument portion 316 proximal to wrist 310. Turning to
According to an exemplary embodiment, constraint tendons may be fixed in place so as to apply a tension to the constraint tendons. A tension applied to a fixed constraint tendon when a wrist is in the substantially straight or neutral configuration as shown in the exemplary embodiment of
According to an exemplary embodiment, constraint tendons may be twisted (e.g., in a substantially helical pattern) through at least a portion of a wrist. Although wrist 310 includes four constraint tendons 330, 332, 334, 336, as shown in the exemplary embodiment of
According to an exemplary embodiment, constraint tendons of the exemplary embodiments described herein may continuously curve when extending along helical paths and follow a substantially twisted path. For instance, constraint tendons may extend along a helical path with a substantially constant radius of curvature or with a radius of curvature that differs in various sections along the constraint tendons. According to another exemplary embodiment, constraint tendons extending along a helical path may include one or more straight path sections in which the constraint tendons extend substantially straight. For instance, constraint tendons may include straight sections that extend between disks, such as, for example, between each of disks 311-315. Constraint tendons may extend along a helical path by including a series of substantially straight sections angled relative to one another to provide the helical path, according to an exemplary embodiment. According to another exemplary embodiment, constraint tendons may include a mixture of one or more curved sections in which the constraint tendons curve and one or more substantially straight sections. For instance, constraint tendons may be curved when passing through disks and substantially straight between disks. According to an exemplary embodiment, the slope of constraint tendons, as the constraint tendons extend along a longitudinal direction of an instrument, may be substantially constant or may vary. For instance, the slope of constraint tendons may vary from one curved section to another, from one straight section to another, or between straight and curved sections of a constraint tendon as the constraint tendon extends along a longitudinal direction of an instrument. Regardless of whether the helical paths followed by the constraint tendons contain some straight sections or varying degrees of curvature, the helical path can be considered approximately helical such that the constraint tendons extend over some angular extent when projected onto a plane.
An angular extent of a helical path of a constraint tendon is further illustrated in the exemplary embodiment of
As shown in
According to an exemplary embodiment, constraint tendons 330, 332, 334, 336 extend along a helical path so that constraint tendons 330, 332, 334, 336 have an angular extent of approximately 360 degrees along the entire length of wrist 310. For instance, constraint tendons 330, 332, 334, 336 may extend along a helical path having an angular extent of approximately 90 degrees between each disk 311-315 of wrist 310 when wrist 310 includes four disks 311-315. In other words, constraint tendons 330, 332, 334, 336 may be extend along a helical path having an angular extent of approximately 90 degrees each between disk 315 and disk 314, between disk 314 and disk 313, between disk 313 and disk 312, and between disk 312 and disk 311. In another exemplary embodiment, a wrist may include six disks with the constraint tendons of the wrist extending along a twisted path having an angular extent of approximately 60 degrees between each disk of the wrist, with a total angular extent along the entire wrist being 360 degrees for the constraint tendons. Thus, constraint tendons may extend along a twisted path having an angular extent equaling the total angular extent across the wrist for the constraint tendon (e.g., 360 degrees), divided by the number of disks of the wrist, according to an exemplary embodiment. However, various exemplary embodiments of the present disclosure contemplate the constraint tendons of a wrist may extend along a helical path to other angular extents. For example, constraint tendons may extend along a helical path such that the amount of angular extent differs between differing disks of a wrist. Such a configuration may provide wrist that achieves differing degrees of bending (articulating) along differing sections along the length of the wrist. Further, the total angular extent of constraint tendons may be an integer multiple of 360 degrees, such as when an instrument includes an integer multiple of wrists, according to an exemplary embodiment. Further constraint tendons may extend along a helical path a different amount than approximately 90 degrees between disks, such as, for example, approximately 180 degrees, according to an exemplary embodiment. According to an exemplary embodiment, the constraint tendons may extend along a helical path in an amount described in the exemplary embodiments of U.S. Provisional Application No. 61/943,084, filed on Feb. 21, 2014, which is hereby incorporated by reference in its entirety.
To illustrate the helical path of a constraint tendon, a side view of a wrist 360 including disks 361-365 is shown in the exemplary embodiment of
Twisting constraint tendons so as to traverse a helical path through at least a portion of a wrist provides advantages other than constraining the motion of the wrist to provide accurate control of the movement and shape of the wrist. For instance, constraint tendons may extend along a helical path so that constraint tendons are positioned in differing locations than joints between disks of a wrist. As shown in the exemplary embodiment of
Constraint tendons may follow twisted paths to avoid joints connecting disks so the constraint tendons are offset or otherwise adjacent to the joints. For instance, constraint tendons 334 and 336 may extend between disks 311 and 312 on an open side of wrist 310 where an aperture 340 is provided between disks 311 and 312 (when wrist 310 is in the straight or neutral configuration shown in
Similarly, constraint tendons 330 and 334 may extend between disks 313 and 312 so constraint tendons 330 and 334 do not pass through joint 324, which permit disks 313 and 312 to rotate relative to one another about axis 352 in direction 352; constraint tendons 330 and 332 may extend between disks 314 and 313 so constraint tendons 330 and 332 do not physically pass through joint 326, which permit disks 314 and 314 to rotate relative to one another about axis 354 in direction 355; and constraint tendons 332 and 336 may extend between disks 314 and 315 so constraint tendons 332 and 336 do not physically pass through joint 328, which permit disks 315 and 314 to rotate relative to one another about axis 356 in direction 357.
Disks of a wrist may be configured to locate and/or direct constraint tendons as they pass through the disks. For example, it may be desirable to avoid having the constraint tendons passing through joints between disks. Turning to FIG. 8A, a perspective view is shown of an exemplary embodiment of a disk 500. Disks 311-315 of wrist of
Because constraint tendons extend in a helical path along at least a portion of a wrist, constraint tendons may sweep (e.g., move in a direction 530 relative to disk 500) through a larger circumferential extent than drive tendons, which extend in a substantially straight direction between the disks of a wrist, when the wrist is actuated to articulate and bend. Constraint tendon apertures 512 may be located close to an outer periphery 502 of disk 500 because less sweep of constraint tendons may occur when the constraint tendons are positioned further away from a central aperture 516 of disk. Although some sweep of constraint tendons may still occur, locating constraint tendon apertures 512 closer to periphery 502 also provides more space for central aperture 516 and/or joint structures 520 of disk 500. As shown in the exemplary embodiment of
According to another exemplary embodiment, drive tendon apertures 510 and constraint tendon apertures 512 may be located at different locations along radial directions 515. For example, constraint tendon apertures 512 may be radially offset from drive tendon apertures 510 so that constraint tendon apertures 512 are located along radial directions 515 closer to central aperture 516 than drive tendon apertures 510. As a result, constraint tendons extending through constraint tendon apertures 512 may be located radially inward of joint structures 520 of disk 500 so that the constraint tendons do not interfere with joint structures 520. In another example, constraint tendon apertures 512 for constraint tendons extending along differing helical path directions can be offset from one another. For example, apertures for constraint tendons 330 extending along a helical path in a first direction 342 (such as, for example, in a left-handed direction in a proximal to distal direction) in
According to an exemplary embodiment, drive tendon apertures 510 may be located at a distance of, for example, about 0.095 inches to about 0.100 inches from central aperture 516 along radial direction 515 and constraint tendon apertures may be located at a distance of, for example, about 0.080 inches to about 0.085 inches from central aperture 516 along radial direction 515. In an exemplary embodiment in which constraint tendon apertures 512 are radially offset from drive tendon apertures 510, a disk 500 may include four constraint tendon apertures 512, as shown in the exemplary embodiment of
To accommodate the sweep of constraint tendons, constraint tendon apertures 512 may have, for example, a different shape than drive tendon apertures 510. For instance, drive tendon apertures 510 may have a substantially circular transverse cross-section, while constraint tendon apertures 512 may have elongated and non-circular cross-sections, such as being elongated along direction 530. For example, constraint tendon apertures 512 may have an oval, elliptical or kidney shape. In another example, constraint tendon apertures 512 may span along direction 530 to a differing extent than drive tendon apertures 510. For instance, constraint tendon apertures 512 may span to a greater extent along direction 530 than drive tendon apertures 510. According to an exemplary embodiment, drive tendon apertures 510 may have a diameter ranging from, for example, about 0.020 inches to about 0.025 inches and constraint tendon apertures 512 may have a length along circumferential direction 530 of, for example, about 0.020 inches to about 0.025 inches, with drive constraint tendon apertures 512 being equal to or greater in length or diameter than drive tendon apertures 510. Due to the elongated shape and/or circumferential length of constraint tendon apertures 512, constraint tendon apertures 512 may better accommodate the sweep of constraint tendons that extend through constraint tendon apertures 512 as a wrist is actuated to bend from its neutral position.
According to an exemplary embodiment, disk 500 may include a recessed surface portion 514 located adjacent to and extending from a constraint tendon aperture 512. Because constraint tendons extend along helical paths along at least a portion of a wrist, constraint tendons may sweep along circumferential direction 530 and against a circumferential edge 513 of constraint tendon apertures 512. By providing a recess surface portion 514 adjacent to constraint tendon aperture 512, the sweep of a constraint tendon may be further accommodated, such as by permitting the constraint tendon to enter into recess surface portion 514 when the constraint tendon sweeps against a circumferential edge 513 of a constraint tendon aperture 512. Recess surface portion 514 may have, for example, an elongated shape with a depth that is substantially constant or a depth that varies, such as, for example, by decreasing in a direction away from a constraint tendon aperture that the recess surface portion 514 is adjacent to. The latter therefore providing a ramp-like feature from aperture 512 up to the surface of disk 500. According to an exemplary embodiment, recess surface portions 514 may slope at an angle, for example, ranging from about 20 degrees to about 30 degrees.
According to an exemplary embodiment, disk 500 may include joint structures 520 to form joints between adjacent disks. Joint structures 520 may be configured in various ways. For example, joint structures 520 may include cycloidal shapes, as described in U.S. Pat. No. 8,887,595, published Nov. 18, 2014, which is hereby incorporated by reference in its entirety or may be configured according to the exemplary embodiments of U.S. Pat. No. 8,911,428, published Dec. 16, 2014, which is hereby incorporated by reference in its entirety. Joints 322, 324, 326, 328 of the exemplary embodiment of
According to an exemplary embodiment, a joint structure 520 of disk 500 of the exemplary embodiment of
Another advantage provided by extending constraint tendons along helical paths is the substantial conservation of lengths of constraint tendons when a wrist is actuated to articulate (e.g., bend). When disks 313, 314 are actuated to pivot relative to one another about axis 354 in direction 355 in
A twisting path for a constraint tendon through an articulatable member, such as a wrist, may be selected to address changes in length of constraint tendons. According to an exemplary embodiment, passive constraint tendons may extend along a helical path along at least a portion of a wrist to substantially conserve the length of the constraint tendons over the entire length of the wrist. A constraint tendon may passively constrain movement of an articulatable member without the use of an actuator, such as a force transmission mechanism and control algorithms controlling the same. For example, in various exemplary embodiments, the movement of disks of a jointed link structure may be passively constrained by constraint members that are not actuatable by an external drive or transmission mechanism. To achieve this, a passive constraint tendon may extend along a helical path so that when an articulated member including the constraint tendon is bent, such as in a pitch and/or yaw motion, the constraint tendon experiences a positive or negative change in length between a first pair of adjacent disks and experiences a corresponding, and opposite, negative or positive change in length between a second pair of adjacent disks that substantially cancels the change in length from the first pair of adjacent disks. As a result, the length of the constraint tendon is substantially conserved. Further, because ends of the constraint tendon are fixed at opposite ends of the articulatable member, which fixes the length of the constraint tendon, the bending motion (e.g., a pitch and/or yaw motion) is permitted because the bending motion does not substantially result in a change in length of the constraint tendon. In contrast, a translation motion, such as to laterally move a wrist into an S-shape, may be substantially prevented because the translation motion does not result in a conservation of the length of the constraint tendon but the fixed ends of the constraint tendon substantially prevent a change in length of the constraint tendon.
Turning to the exemplary embodiment of
According to an exemplary embodiment, when the bend axes 350, 352, 354, 356 of wrist 310 alternate in different (e.g., orthogonal) directions, as shown in
According to an exemplary embodiment, by fixing constraint tendons 330, 332, 334, 336 at opposite ends of wrist 310, bend angles of similar joints of wrist will be substantially the same. By providing a wrist that has substantially the same bend angles for similar joints, motions of the wrist may be more easily controlled and may be smoother. According to an exemplary embodiment, when wrist 310 is actuated to bend toward the side of wrist 310 where constraint tendons 332, 336 extend between disks 315 and 314, disks 315 and 314 rotate relative to one another about axis 356 to substantially the same degree that disks 313 and 312 rotate relative to one another about axis 352. This is because axes 356 and 352 are substantially parallel to one another. Similarly, when wrist 310 is actuated to cause rotation between disks 311 and 312 about axis 350, disks 313 and 314 also rotate about axis 354 to substantially the same degree.
According to an exemplary embodiment, all of the constraint tendons of a wrist may extend in helical paths in the same circumferential direction from a distal disk (e.g., disk 311) to a proximal disk (e.g., disk 315). However, in such an exemplary embodiment, one or more of the constraint tendons may pass through one or more joint structures between adjacent disks, which may result in weakening of the joint structure(s). To address this, constraint tendons can be routed to extend along helical paths in different directions. For instance, one constraint tendon may extend along a twisted path in a right-handed or left-handed direction along the proximal-distal direction of an instrument and another constraint tendon may extend along a twisted path in the other of the left-handed or right-handed direction along the proximal-distal direction of the instrument. As shown in the exemplary embodiment of
Similarly, constraint tendons 332 and 336 extend along helical paths in respective opposite directions 344 and 342 from disk 311 to disk 315 so that constraint tendons 332 and 336 do not physically pass through any of joints 322, 324, 326, 328. According to an exemplary embodiment, at least a portion of both constraint tendons 330 and 336 extend along helical paths in direction 342 from disk 311 to disk 315. According to an exemplary embodiment, at least a portion of both of constraint tendons 334 and 332 extend along helical paths in direction 344 from disk 311 to disk 315. In other words, when wrist 310 includes four constraint tendons 330, 332, 334, 336, two of the constraint tendons may extend along a helical path along direction 342 from disk 311 to disk 315 and the other two constraint tendons may extend along a helical path in direction 344 from disk 311 to disk 315.
One consideration in configuring constraint tendons is the amount of friction between the constraint tendons and components of a wrist, which can impact motion of the wrist, power needed to actuate the wrist, and/or wear on the wrist components. For instance, in wrists that use multiple sets of actuation members to actively constrain a wrist, the actuation members typically extend along a straight path through the instrument and wrist, with bending occurring as the wrist bends. In light of the increased amount of friction that can result between constraint tendons and wrist components due to a helical path of constraint tendons as compared to, for example, a straight path, constraint tendons may extend along helical paths in a way to help minimize friction.
According to an exemplary embodiment, extending constraint tendons 330, 332, 334, 336 along helical paths to have an angular extent of approximately 90 degrees as the tendons traverse between each pair of disks 311-315 does not result in a significant increase in friction in comparison to conventional wrists that utilize multiple sets of straight tendons to constrain joint motion. This is because although constraint tendons 330, 332, 334, 336 extend along helical paths, a wrap angle, which can be used to determine the amount of friction between constraint tendons 330, 332, 334, 336 and wrist components, is not significantly greater than a wrap angle for straight tendons used to constrain joint motion in conventional wrists. Friction between a tendon and its supporting surface(s) may be represented by the capstan equation, Tload=Tholdμφ, in which Thold is tension applied to the tendon (such as a preloaded tension), μ is the coefficient of friction between the tendon and support surface(s), φ is the total angle swept by the twist of the tendon, and Tload is the force between the tendon and supporting surface(s). Twisting a tendon through a large angle of φ thus results in a large Tload force between the tendon and the support surface(s). In an exemplary embodiment, using a helical path having an angular extent of approximately 90 degrees between each of neighboring disks 311-315 may provide a wrap angle having, for example, an angular extent of approximately 40 degrees to approximately 70 degrees at, for example, three bend locations 345, 346, 347 shown in the exemplary embodiment of
The various wrist exemplary embodiments described herein may include disks arranged in various configurations. For example, the configuration shown in the exemplary embodiment of
An ABBA configuration acts similarly to a constant velocity joint, which may be desirable when rolling motions are transmitted through the wrist. For instance, when a wrist is used in an instrument and a rolling motion is input to the instrument shaft, the rolling motion is transmitted through the wrist, causing a distal end of the instrument, which may include an end effector, to roll as well. Because a wrist includes one or more joints, the wrist acts like an input and output shaft of a vehicle drive train connected via one or more joints. As one of ordinary skill in the art is familiar with, when an angle exists between the input and output shaft of a vehicle drive train, a variation in speed occurs between the input shaft and output shaft, which is undesirable. A wrist with an ABBA mechanism addresses this consideration by acting like a constant velocity joint, similar to a double Cardan joint, with the two A joints having substantially the same angle and the two B joints having substantially the same angle, thereby resulting in a substantial cancellation of speed variation between the input and output sides. Thus, an ABBA wrist can minimize or eliminate a variation in speed between an input and output side of the wrist for rolling motions applied to an instrument shaft.
Although an ABBA configuration minimizes or eliminates variation in speed between an input and output side of a wrist for rolling motion, an ABAB configuration, such as the exemplary embodiment of
Although a wrist mechanism with an ABAB configuration provides a disadvantage of naturally providing a speed variation between its input and output side, extending constraint tendons along helical paths through at least a portion of a wrist and fixing the constraint tendons at opposite ends of the wrist provide significant advantages that at least offset this disadvantage. Further, any speed variation may be compensated for by control systems that regulate input rotational speed to the wrist to accomplish rolling, such as by varying an input speed according to a bend angle of the wrist to compensate for variation in speed.
Turning to
Wrist 600 further includes constraint tendons fixed at opposite ends of wrist 600. As shown in the exemplary embodiment of
This is further illustrated in
For instance, when wrist 600 uses the disks 500 and 540 of the exemplary embodiment of
Although the exemplary embodiments of
As discussed above with regard to the exemplary embodiments of
According to an exemplary embodiment, the braided structure 710 may have a hollow cylindrical or tubular shape defining a central passage for instrument components.
It should be understood that
Each plait 712 may be formed by a plurality of filaments 714 that extend along the warp 711 or weft 713 directions. Plaits 712 may have a generally rectangular structure with substantially flat surfaces that form an exterior surface 708 of braided structure 710, as shown in
Braided structure 710 may be used to constrain the motion of articulatable member 700, as discussed herein, by fixing the ends of braided structure 710. Thus, braided structure 710 may constrain motion of articulatable member 700 instead of using constraint tendons to so, as in the exemplary embodiments of
Braided structure 710 can provide relatively smooth motion for articulatable member 700, for example, when used as a wrist, and be relatively inexpensive to manufacture. Further, similar to a wrist structure having an ABBA configuration, braided structure 710 may minimize or eliminate a speed variation between its input and output sides when subject to rotational (roll) motion. Braided structure 710 may be actuated, for example, by applying a force, such as tension or compression, to actuation members 730 (e.g., pull/pull or push/pull actuation members which may be coupled to and actuated by a force transmission mechanism, as described above with regard to the exemplary embodiment of
According to another exemplary embodiment, the proximal end 702 and distal end 704 of braided structure need not be respectively fixed to disks but instead can be directly fixed to another instrument component without the use of a disk. Turning to
Articulatable member 700 may include one or more structures to control the diameter of braided structure 710 so that the diameter of braided structure 710 does not substantially shrink or expand under load, which may otherwise affect the precision of the motion of braided structure 710. As shown in the exemplary embodiment of
Although two disks 720 are shown in the exemplary embodiment of
According to an exemplary embodiment, an articulatable member including a braided structure may use other structures than disks, such as disks 720 of the exemplary embodiment of
According to an exemplary embodiment, braided structure 710 may extend along a helical path between its proximal end 702 and distal end 704, such as in direction 706 or in direction 707. For example, the individual filaments 714 may extend along helical paths. Providing a predetermined helical path for braided structure 710 may control the number of DOF's of braided structure 710 and thus control the motion of braided structure 710 and how braided structure 710 constrains the motion of wrist 700. For instance, controlling the helical path traversed by a braided structure 710 may affect the number of degrees of freedom permitted by braided structure 710 due to how individual filaments are positioned relative to bending axes along the length of the braided structure 710.
According to an exemplary embodiment, braided structure 710 may extend along a helical path having an angular extent of approximately 180 degrees between proximal end 702 and distal end 704 to provide braided structure 710 with zero degrees of freedom. For instance, filaments 714 may extend along a helical path having an angular extent of approximately 180 degrees between proximal end 702 and distal end 704. The 180 degree angular extent of the helical path results in a braided structure 710 in which the length of filaments 714 is not conserved when the braided structure 710 is moved. Because ends of the braided structure 710 are fixed and do not permit a change in length, bending and translation motions are substantially prevented, which would otherwise result in a change in length of the braided structure 710. A braided structure 710 with zero degrees of freedom would be resistant to bending like a wrist but may bend a limited degree due to deformation of filaments and/or plaits under load.
According to another exemplary embodiment, braided structure 710 may extend along a helical path having an angular extent of approximately 360 degrees between proximal end 702 and distal end 704 to provide braided structure 710 with two degrees of freedom, such as in arbitrary pitch and yaw directions. For example, filaments 714 may extend along a helical path having an angular extent of approximately 360 degrees as they traverse from the proximal end 702 and to the distal end 704. By extending along a helical path having an angular extent of approximately 360 degrees, braided structure 710 may function like a wrist comprising a series of connected disks in an ABAB configuration with two degrees of freedom, because bending motions in pitch and yaw directions may be permitting because the bending motions are length conservative. Conversely, translation motion, such as to move braided structure 710 into an S-shape, would be substantially prevented because the translation motion would not be length conservative and the fixed ends of the braided structure 710 would substantially prevent a change in length of braided structure 710. On the other hand, because braided structure 710 has only two degrees of freedom when extending along a helical path having an angular extent of approximately 360 degrees, translation motion of braided structure 710 in X-Y space can be constrained, so that braided structure 710 may articulate along an arc (e.g., like a wrist) but one portion of braided structure 710 may not translate laterally relative to another portion of braided structure 710 (e.g., like a parallel motion mechanism, as described below in regard to the exemplary embodiment of
According to another exemplary embodiment, braided structure 710 may extend along a helical path having an angular extent of approximately 720 degrees between proximal end 702 and distal end 704, so that the motion of braided structure 710 is substantially unconstrained. For example, filaments 714 may extend along a helical path having an angular extent of approximately 720 degrees as they traverse from the proximal end 702 to the distal end 704. A braided structure extending an angular extent of approximately 720 degrees would be similar to two consecutive braided structures each extending along a helical path having an angular extent of approximately 360 degrees, providing an overall braided structure with 4 DOFs (which would appear to be substantially unconstrained to a user) and permitting both bending movement and translation movement. As a result, not only may braided structure 710 bend in arbitrary pitch and yaw directions like a wrist, but braided structure 710 may move into a S-shape or like a parallel motion mechanism, as described below in regard to the exemplary embodiment of
When a braided structure 710 is used in an articulatable member 700, braided structure 710 may be used to replace a series of disks connected at joints, as shown in the exemplary embodiment of
Although braided structure 710 may be used to replace connected disks and to provide wrist with a constrained motion, as in the exemplary embodiment of
As discussed in the exemplary embodiments of
With reference to
As shown in the exemplary embodiment of
Unlike the motion of a wrist, which may be constrained to substantially follow an arc, the motion of parallel motion mechanism 910 may be constrained to translate parallel motion mechanism 910 in X-Y space, as shown in the exemplary embodiment of
Turning to
As shown in the exemplary embodiment of
An instrument further includes one or more tendons to actuate parallel motion mechanism 910. For example, parallel motion mechanism actuation members 930 may extend from shaft 906 through parallel motion mechanism 910 and be fixed to distal end 914 of parallel motion mechanism 910 so that parallel motion mechanism 910 may be actuated, such as by applying forces to tendons 930. According to an exemplary embodiment, actuation members 930 may be pull/pull actuation members or push/pull actuation members. Some parallel motion mechanisms, due to limitations on the amount of interior space within a parallel motion mechanism, may use three drive tendons to actuate the parallel motion mechanism. However, parallel motion mechanisms of the exemplary embodiments described herein may provide an increase amount of interior space due to their configurations, permitting various numbers of drive tendons to be used. For example, four actuation members 930 may be used to actuate parallel motion mechanism 910, with actuation members 930 arranged in pairs, e.g., connected to capstans, similar to the actuation members 364 of the exemplary embodiment of
Parallel motion mechanism 910 may further include one or more constraint members fixed at opposite ends of parallel motion mechanism 910, according to an exemplary embodiment. For example, constraint tendons 940 may extend from distal end 915 of parallel motion mechanism 910 to proximal end 917, with constraint tendons 940 being fixed at distal end 915 and proximal end 917. Constraint tendons 940 may be fixed in place via, for example, welding constraint tendons 940 to a component of parallel motion mechanism 910, crimping constraint tendon 940 to another object, or by other techniques familiar to one of ordinary skill in the art. In the exemplary embodiment of
Although the parallel motion mechanisms of the exemplary embodiments described herein have similar motions and functions to the embodiments described in U.S. Pat. No. 7,942,868, published May 17, 2011, and U.S. Pub. No. US 2008/0065105, published Mar. 13, 2008, the parallel motion mechanisms of the exemplary embodiments described herein have different structures, which advantageously provide more interior room for more components, such as drive tendons and/or constraint tendons, as well as smooth, precise motion of the parallel motion mechanisms.
According to an exemplary embodiment, parallel motion mechanism 910 does not include the stiffening brackets 1670 described in U.S. Pat. No. 7,942,868, resulting in more interior space within parallel motion mechanism 910. Although stiffening brackets 1670 described in U.S. Pat. No. 7,942,868 take up some interior space, the configuration of the stiffening brackets 1670 increased the tensile force applied to an actuating cable 1680 connected to a bracket 1670, with both constraint cables and actuating cables extending straight through the parallel motion mechanism. To address this, actuation members 930 of parallel motion mechanism 910 may extend along a helical path along at least a portion of parallel motion mechanism 910. This is further illustrated in the exemplary embodiment of
Because parallel motion mechanism actuating members may extend along a helical path along at least a portion of a parallel motion mechanism, a mechanical advantage may be provided to the tendons without the use of stiffening brackets and mechanisms employed in other parallel motion mechanism designs. For example, when parallel motion mechanism 910 is actuated as shown in
In contrast to actuation members 930, constraint tendons 940 follow a substantially straight path as they extend through parallel motion mechanism 910, as shown in the exemplary embodiment of
As described in the exemplary embodiments of
Although wrists and parallel motion mechanisms according to the exemplary embodiments described herein may be used separately (i.e., an instrument may include a wrist or a parallel motion mechanism), an instrument may include both a wrist and a parallel motion mechanism. When an instrument includes both a wrist and a parallel motion mechanism, the wrist may include constraint mechanism, such as constraint tendons, separate from constraint mechanisms, such as constraint tendons, of the parallel motion mechanism. For example, the wrist includes a first constraint mechanism, such as a first set of one or more constraint tendons, and the parallel motion mechanism includes a second constraint mechanism, such as a second set of one or more constraint tendons. According to an exemplary embodiment, when the wrist and parallel motion mechanism have separate constraint tendons, the constraint tendons of the wrist and parallel motion mechanism may differ, such as by having differing diameters, or other structural or material differences, which may be chosen to achieve desired motion effects, for example.
According to another embodiment, the wrist and parallel motion mechanism use the same constraint mechanism, such as the same constraint tendons. Using the same constraint mechanism in the wrist and parallel motion mechanism may be efficient for conserving the interior space of an instrument to use the same constraint mechanisms for both a wrist and a parallel motion mechanism.
With reference to
According to an exemplary embodiment, wrist 1202 and parallel motion mechanism 1204 share constraint tendons that constrain motion of both wrist 1202 and parallel motion mechanism 1204. For example, constraint tendons for both wrist 1202 and parallel motion mechanism 1204 include a first portion of constraint tendons 1240A that extend through parallel motion mechanism 1204, are fixed (such as, for example, at a distal end of parallel motion mechanism 1204, at proximal end of wrist 1202, or between parallel motion mechanism 1204 and wrist 1202, such as via crimps 1210 discussed below) have a second portion of constraint tendons 1240B that extend through wrist 1202, and are fixed again. The first and second portions 1240A, 1240B are of the same, continuous constraint tendons, so that the same constraint tendons (portions 1240A, 1240B) may be used to constrain both wrist 1202 and parallel motion mechanism 1204. For instance, the constraint tendons may be fixed at a distal end of parallel motion mechanism 1204, a proximal end of wrist 1202, or in a connection region 1205 between wrist 1202 and parallel motion mechanism 1204, as shown in the exemplary embodiment of
According to an exemplary embodiment, wrist 1202 and parallel motion mechanism 1204 have separate constraint tendons that respectively constrain motion of wrist 1202 and parallel motion mechanism 1204. For example, first portion of constraint tendons 1240A represents a first set of one or more constraint tendons and second portion of constraint tendons 1240B represents a second set of one or more constraint tendons separate from the first portion of constraint tendons 1240A. When wrist 1202 and parallel motion mechanism 1204 have different constraint tendons, the constraint tendons for parallel motion mechanism 1204 (e.g., first portion 1240A) may be fixed, for example, at a distal end of parallel motion mechanism 1204, at proximal end of wrist 1202, or between parallel motion mechanism 1204 and wrist 1202, and the constraint tendons for wrist 1202 (e.g., second portion 1240B) may be fixed at, for example, at a distal end of parallel motion mechanism 1204, at proximal end of wrist 1202, or between parallel motion mechanism 1204 and wrist 1202, extend through wrist 1202, and be fixed at a distal end of wrist 1202.
The constraint tendons may be fixed, according to the exemplary embodiments of
The exemplary embodiments and methods described herein have been described as being utilized with surgical instruments for teleoperated surgical systems. However, the exemplary embodiments and methods described herein may be used with other surgical devices, such as laparoscopic instruments and other manual (e.g., hand held) instruments, and non-surgical devices, such as devices that include any of a variety of actuated articulatable members, including but not limited to wrists and/or parallel motion mechanisms, whether the devices are teleoperated, remote controlled, or manually operated.
By providing surgical instruments with constraint mechanisms according to the exemplary embodiments described herein, articulatable members are provided that have simpler force transmission mechanisms that are easier to control and less costly to manufacture, while the articulatable members provide substantially repeatable, smooth, precise motions.
Further modifications and alternative embodiments will be apparent to those of ordinary skill in the art in view of the disclosure herein. For example, the systems and the methods may include additional components or steps that were omitted from the diagrams and description for clarity of operation. Accordingly, this description is to be construed as illustrative only and is for the purpose of teaching those skilled in the art the general manner of carrying out the present teachings. It is to be understood that the various embodiments shown and described herein are to be taken as exemplary. Elements and materials, and arrangements of those elements and materials, may be substituted for those illustrated and described herein, parts and processes may be reversed, and certain features of the present teachings may be utilized independently, all as would be apparent to one skilled in the art after having the benefit of the description herein. Changes may be made in the elements described herein without departing from the spirit and scope of the present teachings and following claims.
It is to be understood that the particular examples and embodiments set forth herein are non-limiting, and modifications to structure, dimensions, materials, and methodologies may be made without departing from the scope of the present teachings.
Other embodiments in accordance with the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit being indicated by the following claims.
Cooper, Thomas G., Williams, Matthew R., Park, William J.
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